Title (en)

FUSION-BASED OBJECT TRACKER USING LIDAR POINT CLOUD AND SURROUNDING CAMERAS FOR AUTONOMOUS VEHICLES

Title (de)

FUSIONSBASIERTER OBJEKTVERFOLGER MIT LIDAR-PUNKTWOLKE UND UMGEBUNGSKAMERAS FÜR AUTONOME FAHRZEUGE

Title (fr)

DISPOSITIF DE SUIVI D'OBJET BASÉ SUR LA FUSION UTILISANT UN NUAGE DE POINTS LIDAR ET DES CAMÉRAS ENVIRONNANTES POUR VÉHICULES AUTONOMES

Publication

EP 4266085 A3 20231101 (EN)

Application

EP 23159971 A 20230303

Priority

IN 202221022815 A 20220418

Abstract (en)

Unlike existing methods, using LIDAR and 2D-cameras for detection and limit in providing robust tracking of objects, the method disclosed addresses the technical challenge by utilizing 3D-LIDAR points clouds, 2D-camera images and additionally 2D-BEV from 3D LIDAR point clouds to provide, robust, seamless, 360 tracking of objects. The method independently detects, and tracks objects captured by each of the LIDAR, 2D-camera set up mounted on an autonomous vehicle. Detection and tracking is performed on 2D-Camera and 2D-BEV and fused with 3D-Lidar tracker. Additionally, non-occluded area of an object in 2D-bounding boxes, is identified by superimposing panoptic segmentation output with 2D-BB, that helps to eliminate the lidar points falling on the irrelevant objects and provides accurate real world position of the detected objects in the point cloud. An enhanced 2D object detector based on a customized NN architecture employing MISH activation function is also introduced.

IPC 8 full level

G01S 7/41 (2006.01); G01S 17/86 (2020.01)

CPC (source: EP US)

G01S 7/417 (2013.01 - EP); G01S 17/86 (2020.01 - EP); G06T 7/11 (2016.12 - US); G06T 7/248 (2016.12 - US); G06T 7/277 (2016.12 - US); G06T 7/292 (2016.12 - US); G06V 10/26 (2022.01 - US); G06V 10/30 (2022.01 - US); G06V 10/40 (2022.01 - US); G06V 10/82 (2022.01 - US); G06V 20/56 (2022.01 - US); G06V 20/70 (2022.01 - US); G01S 17/931 (2020.01 - EP); G06T 2207/10028 (2013.01 - US); G06T 2207/20081 (2013.01 - US); G06T 2207/20084 (2013.01 - US); G06T 2207/20221 (2013.01 - US); G06T 2207/30241 (2013.01 - US); G06T 2207/30252 (2013.01 - US)

Citation (search report)

• [A] US 2021063578 A1 20210304 - WEKEL TILMAN [US], et al
• [A] US 2019258878 A1 20190822 - KOIVISTO TOMMI [FI], et al
• [A] SWAIN SATYAJIT ET AL: "Evaluation of dimensionality reduction techniques on hybrid CNN-based HSI classification", ARABIAN JOURNAL OF GEOSCIENCES, SPRINGER INTERNATIONAL PUBLISHING, CHAM, vol. 14, no. 24, 7 December 2021 (2021-12-07), XP037637586, ISSN: 1866-7511, [retrieved on 20211207], DOI: 10.1007/S12517-021-09143-3

Designated contracting state (EPC)

AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR

Designated extension state (EPC)

BA

Designated validation state (EPC)

KH MA MD TN

DOCDB simple family (publication)

EP 4266085 A2 20231025; EP 4266085 A3 20231101; JP 2023158638 A 20231030; US 2023334673 A1 20231019

DOCDB simple family (application)

EP 23159971 A 20230303; JP 2023050910 A 20230328; US 202318116977 A 20230303